diff --git a/n1.py b/n1.py
index 1529853..23a268b 100644
--- a/n1.py
+++ b/n1.py
@@ -40,7 +40,7 @@ class Cell:
         }
         return walls_to_code.get(walls, 0)
 
-# Класс для представления лабиринта
+
 class Maze:
     class ExitDFS(Exception):
         pass
@@ -70,7 +70,7 @@ class Maze:
             maze_array.append(row)
         return maze_array
 
-# Класс для управления роботом
+
 class Robot:
     def __init__(self, token: str, maze: Maze):
         self.token = token
@@ -86,23 +86,28 @@ class Robot:
         self.move_count = 0
 
     def get_sensor_data(self):
+        time.sleep(0.2)
         response = requests.get(f'{self.api_url}/robot-cells/sensor-data', params={'token': self.token})
         return response.json()
 
     def move_forward(self):
         requests.post(f'{self.api_url}/robot-cells/forward', params={'token': self.token})
+        time.sleep(0.2)
         self.update_position('forward')
 
     def turn_left(self):
         requests.post(f'{self.api_url}/robot-cells/left', params={'token': self.token})
+        time.sleep(0.2)
         self.update_orientation('left')
 
     def turn_right(self):
         requests.post(f'{self.api_url}/robot-cells/right', params={'token': self.token})
+        time.sleep(0.2)
         self.update_orientation('right')
 
     def move_backward(self):
         requests.post(f'{self.api_url}/robot-cells/backward', params={'token': self.token})
+        time.sleep(0.2)
         self.update_position('backward')
 
     def update_orientation(self, turn):
@@ -259,10 +264,10 @@ def main(num_att=1):
     for i in range(num_att):
         start_time = time.time()
         print(f'Попытка {i + 1}')
-        start_once(robot=robot)
+        start_once(robot=robot, matrix_check=True)
         print(f'Время {time.time() - start_time} секунд')
     print(f'Общее время {time.time() - times} секунд (лимит - {60 * 15})')
 
 
 if __name__ == '__main__':
-    main(num_att=3)
+    main(num_att=1)
diff --git a/n2.py b/n2.py
index 9d9a2d6..bcd62c9 100644
--- a/n2.py
+++ b/n2.py
@@ -1,6 +1,7 @@
 import requests
 import time
 
+
 class Cell:
     def __init__(self, x, y):
         self.x = x
@@ -89,23 +90,28 @@ class Robot:
         self.move_count = 0
 
     def get_sensor_data(self):
+        time.sleep(0.2)
         response = requests.get(f'{self.api_url}/robot-cells/sensor-data', params={'token': self.token})
         return response.json()
 
     def move_forward(self):
         requests.post(f'{self.api_url}/robot-cells/forward', params={'token': self.token})
+        time.sleep(0.2)
         self.update_position('forward')
 
     def turn_left(self):
         requests.post(f'{self.api_url}/robot-cells/left', params={'token': self.token})
+        time.sleep(0.2)
         self.update_orientation('left')
 
     def turn_right(self):
         requests.post(f'{self.api_url}/robot-cells/right', params={'token': self.token})
+        time.sleep(0.2)
         self.update_orientation('right')
 
     def move_backward(self):
         requests.post(f'{self.api_url}/robot-cells/backward', params={'token': self.token})
+        time.sleep(0.2)
         self.update_position('backward')
 
     def update_orientation(self, turn):
@@ -284,4 +290,4 @@ def main(num_att=1):
 
 
 if __name__ == '__main__':
-    main(num_att=3)
+    main(num_att=1)
diff --git a/n2_new.py b/n2_new.py
new file mode 100644
index 0000000..b9d8f0a
--- /dev/null
+++ b/n2_new.py
@@ -0,0 +1,376 @@
+import requests
+import time
+import heapq
+
+
+class Cell:
+    def __init__(self, x, y):
+        self.x = x
+        self.y = y
+        self.walls = {'N': None, 'E': None, 'S': None, 'W': None}
+        self.visited = False
+
+    def get_wall_code(self):
+        up = self.walls['N']
+        right = self.walls['E']
+        down = self.walls['S']
+        left = self.walls['W']
+        walls = (
+            1 if up else 0,
+            1 if right else 0,
+            1 if down else 0,
+            1 if left else 0
+        )
+        walls_to_code = {
+            (0, 0, 0, 0): 0,
+            (0, 0, 0, 1): 1,
+            (1, 0, 0, 0): 2,
+            (0, 1, 0, 0): 3,
+            (0, 0, 1, 0): 4,
+            (0, 0, 1, 1): 5,
+            (0, 1, 1, 0): 6,
+            (1, 1, 0, 0): 7,
+            (1, 0, 0, 1): 8,
+            (0, 1, 0, 1): 9,
+            (1, 0, 1, 0): 10,
+            (1, 1, 1, 0): 11,
+            (1, 1, 0, 1): 12,
+            (1, 0, 1, 1): 13,
+            (0, 1, 1, 1): 14,
+            (1, 1, 1, 1): 15
+        }
+        return walls_to_code.get(walls, 0)
+
+class Maze:
+    class ExitDFS(Exception):
+        pass
+
+    def __init__(self):
+        self.size = 16
+        self.restart()
+        self.grid = [[Cell(x, y) for y in range(self.size)] for x in range(self.size)]
+        self.cells_to_ignore = {(7, 8)}  
+
+    def restart(self):
+        #self.grid = [[Cell(x, y) for y in range(self.size)] for x in range(self.size)]
+        self.start_x = 0
+        self.start_y = 0
+
+    def get_cell(self, x, y):
+        return self.grid[x][y]
+
+    def is_within_bounds(self, x, y):
+        return 0 <= x < self.size and 0 <= y < self.size
+
+    def to_array(self):
+        maze_array = []
+        for y in range(self.size - 1, -1, -1):
+            row = []
+            for x in range(self.size):
+                cell = self.get_cell(x, y)
+                row.append(cell.get_wall_code())
+            maze_array.append(row)
+        return maze_array
+
+class Robot:
+    def __init__(self, token: str, maze: Maze):
+        self.token = token
+        self.api_url = 'http://127.0.0.1:8801/api/v1'
+        self.maze = maze
+        self.restart()
+
+    def restart(self):
+        self.x = self.maze.start_x
+        self.y = self.maze.start_y
+        self.orientation = 'N'  # 'N', 'E', 'S', 'W'
+        self.visited_cells = set()
+        self.move_count = 0
+
+    def get_sensor_data(self):
+        time.sleep(0.2)
+        response = requests.get(f'{self.api_url}/robot-cells/sensor-data', params={'token': self.token})
+        return response.json()
+
+    def move_forward(self):
+        requests.post(f'{self.api_url}/robot-cells/forward', params={'token': self.token})
+        time.sleep(0.2)
+        self.update_position('forward')
+
+    def turn_left(self):
+        requests.post(f'{self.api_url}/robot-cells/left', params={'token': self.token})
+        time.sleep(0.2)
+        self.update_orientation('left')
+
+    def turn_right(self):
+        requests.post(f'{self.api_url}/robot-cells/right', params={'token': self.token})
+        time.sleep(0.2)
+        self.update_orientation('right')
+
+    def update_orientation(self, turn):
+        directions = ['N', 'E', 'S', 'W']
+        idx = directions.index(self.orientation)
+        if turn == 'left':
+            self.orientation = directions[(idx - 1) % 4]
+        elif turn == 'right':
+            self.orientation = directions[(idx + 1) % 4]
+
+    def update_position(self, move):
+        dx, dy = 0, 0
+        if self.orientation == 'N':
+            dy = 1 if move == 'forward' else -1
+        elif self.orientation == 'E':
+            dx = 1 if move == 'forward' else -1
+        elif self.orientation == 'S':
+            dy = -1 if move == 'forward' else 1
+        elif self.orientation == 'W':
+            dx = -1 if move == 'forward' else 1
+        self.x += dx
+        self.y += dy
+        self.move_count += 1
+
+    def explore(self):
+        try:
+            self._dfs(self.x, self.y)
+        except self.maze.ExitDFS:
+            pass
+
+    def _dfs(self, x, y):
+        if (x, y) in self.maze.cells_to_ignore:
+            return 
+
+        cell = self.maze.get_cell(x, y)
+        if cell.visited:
+            return
+
+        cell.visited = True
+        self.visited_cells.add((x, y))
+        sensor_data = self.get_sensor_data()
+        threshold = 100
+
+        walls = {}
+        walls[self.orientation_to_dir('N')] = sensor_data['front_distance'] < threshold
+        walls[self.orientation_to_dir('E')] = sensor_data['right_side_distance'] < threshold
+        walls[self.orientation_to_dir('W')] = sensor_data['left_side_distance'] < threshold
+        walls[self.orientation_to_dir('S')] = sensor_data['back_distance'] < threshold
+
+        cell.walls.update(walls)
+
+        possible_directions = []
+        for direction in ['N', 'E', 'S', 'W']:
+            if not cell.walls[direction]:
+                nx, ny = self.get_next_position(x, y, direction)
+                if self.maze.is_within_bounds(nx, ny) and (nx, ny) not in self.visited_cells:
+                    if (nx, ny) not in self.maze.cells_to_ignore:
+                        possible_directions.append(direction)
+
+        for direction in possible_directions:
+            nx, ny = self.get_next_position(x, y, direction)
+            self.move_to(direction)
+            self._dfs(nx, ny)
+            self.move_to(self.opposite_direction(direction)) 
+
+    def get_next_position(self, x, y, direction):
+        dx, dy = 0, 0
+        if direction == 'N':
+            dy = 1
+        elif direction == 'E':
+            dx = 1
+        elif direction == 'S':
+            dy = -1
+        elif direction == 'W':
+            dx = -1
+        return x + dx, y + dy
+
+    def move_to(self, direction):
+        turns = self.calculate_turns(self.orientation, direction)
+        for turn in turns:
+            if turn == 'left':
+                self.turn_left()
+            elif turn == 'right':
+                self.turn_right()
+        self.move_forward()
+
+    def calculate_turns(self, current_orientation, target_orientation):
+        directions = ['N', 'E', 'S', 'W']
+        idx_current = directions.index(current_orientation)
+        idx_target = directions.index(target_orientation)
+        delta = (idx_target - idx_current) % 4
+        if delta == 0:
+            return []
+        elif delta == 1:
+            return ['right']
+        elif delta == 2:
+            return ['right', 'right']
+        elif delta == 3:
+            return ['left']
+
+    def opposite_direction(self, direction):
+        opposites = {'N': 'S', 'E': 'W', 'S': 'N', 'W': 'E'}
+        return opposites[direction]
+
+    def orientation_to_dir(self, relative_direction):
+        directions = ['N', 'E', 'S', 'W']
+        idx = directions.index(self.orientation)
+        if relative_direction == 'N':
+            return directions[idx]
+        elif relative_direction == 'E':
+            return directions[(idx + 1) % 4]
+        elif relative_direction == 'S':
+            return directions[(idx + 2) % 4]
+        elif relative_direction == 'W':
+            return directions[(idx - 1) % 4]
+
+    def restart_maze(self):
+        response = requests.post(f"{self.api_url}/maze/restart", params={'token': self.token})
+        time.sleep(0.5)
+        if response.status_code == 200:
+            print("Лабиринт перезапущен.")
+        else:
+            print(f"Ошибка при перезапуске лабиринта: {response.text}")
+
+    def find_shortest_path_to_target(self, target_x, target_y):
+        start_state = (self.x, self.y, self.orientation)
+        queue = []
+        heapq.heappush(queue, (0, 0, start_state, []))  
+        visited = set()
+
+        while queue:
+            f, g, (x, y, orientation), path = heapq.heappop(queue)
+            if (x, y, orientation) in visited:
+                continue
+            visited.add((x, y, orientation))
+
+            if (x, y) == (target_x, target_y):
+                print(f"Найден путь до цели ({target_x}, {target_y})")
+                return path  
+
+            cell = self.maze.get_cell(x, y)
+
+            for action in ['forward', 'left_forward', 'right_forward']:
+                if action == 'forward':
+                    next_orientation = orientation
+                    dx, dy = self.get_direction_delta(orientation)
+                    nx, ny = x + dx, y + dy
+                    action_cost = 1
+                elif action == 'left_forward':
+                    next_orientation = self.turn_orientation(orientation, 'left')
+                    dx, dy = self.get_direction_delta(next_orientation)
+                    nx, ny = x + dx, y + dy
+                    action_cost = 2
+                elif action == 'right_forward':
+                    next_orientation = self.turn_orientation(orientation, 'right')
+                    dx, dy = self.get_direction_delta(next_orientation)
+                    nx, ny = x + dx, y + dy
+                    action_cost = 2
+
+                if not self.maze.is_within_bounds(nx, ny):
+                    continue
+                next_cell = self.maze.get_cell(nx, ny)
+                wall = cell.walls.get(next_orientation)
+                if wall is None or wall:
+                    continue  
+
+                h = self.distance_to_target(nx, ny, target_x, target_y)
+                heapq.heappush(queue, (
+                    g + action_cost + h,
+                    g + action_cost,
+                    (nx, ny, next_orientation),
+                    path + [(action, next_orientation)]
+                ))
+
+        print(f"Путь до цели ({target_x}, {target_y}) не найден.")
+        return None  
+
+    def execute_path(self, path):
+        for action, orientation in path:
+            if action == 'forward':
+                self.move_forward()
+            elif action == 'left_forward':
+                self.turn_left()
+                self.move_forward()
+            elif action == 'right_forward':
+                self.turn_right()
+                self.move_forward()
+            self.orientation = orientation 
+
+        print(f"Робот прибыл к цели на позиции ({self.x}, {self.y})")
+
+    def get_direction_delta(self, orientation):
+        if orientation == 'N':
+            return 0, 1
+        elif orientation == 'E':
+            return 1, 0
+        elif orientation == 'S':
+            return 0, -1
+        elif orientation == 'W':
+            return -1, 0
+
+    def turn_orientation(self, current_orientation, turn):
+        directions = ['N', 'E', 'S', 'W']
+        idx = directions.index(current_orientation)
+        if turn == 'left':
+            return directions[(idx - 1) % 4]
+        elif turn == 'right':
+            return directions[(idx + 1) % 4]
+
+    def distance_to_target(self, x, y, target_x, target_y):
+        return abs(x - target_x) + abs(y - target_y)
+
+def restart(robot: Robot, maze: Maze):
+    robot.restart()
+    robot.restart_maze()
+    maze.restart()
+
+def start_once(robot: Robot, matrix_check: bool=True, score_check: bool=True):
+
+    robot.explore()
+
+    print_results(robot=robot, matrix_check=matrix_check, score_check=score_check)
+
+    restart(robot, robot.maze)
+
+    path = robot.find_shortest_path_to_target(7, 8)
+    if path:
+        robot.execute_path(path)
+    else:
+        print("Не удалось найти путь до клетки (7, 8).")
+
+def print_results(robot: Robot, matrix_check: bool=False, score_check: bool=True):
+    maze_array = robot.maze.to_array()
+    if matrix_check:
+        for row in maze_array:
+            print(row)
+    
+    if not score_check:
+        return
+    
+    response = requests.post(
+        f'{robot.api_url}/matrix/send',
+        params={'token': robot.token},
+        json=maze_array
+    )
+    if response.status_code == 200:
+        response_data = response.json()
+        score = response_data.get('Score')
+        if score is not None:
+            print('Отправка матрицы завершена' + f', Score: {score}')
+        else:
+            print('Отправка матрицы завершена, но Score отсутствует в ответе:', response_data)
+    else:
+        print('Ошибка при отправке матрицы, статус код:', response.status_code)
+    
+def main(num_att=1):
+    token = 'token'
+    maze = Maze()
+    robot = Robot(token=token, maze=maze)
+    times = time.time()
+    for i in range(num_att):
+        start_time = time.time()
+        print(f'Попытка {i + 1}')
+        start_once(robot=robot)
+        print(f'Время {time.time() - start_time} секунд')
+    print(f'Общее время {time.time() - times} секунд (лимит - {60 * 15})')
+
+
+if __name__ == '__main__':
+    main(num_att=1)